TY - GEN
T1 - An amoeboid modular robot that exhibits real-time adaptive reconfiguration
AU - Shimizu, Masahiro
AU - Ishiguro, Akio
PY - 2009/12/11
Y1 - 2009/12/11
N2 - This paper discusses experimental verifications of a two-dimensional modular robot called "Slimebot", consisting of many identical modules, each of which has simple motile functions. We have so far investigated a fully decentralized algorithm able to control the morphology of the modular robot in real-time according to the environment encountered. One of the most significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interplay between control and mechanical systems. In order to verify our proposed control scheme, we have constructed real physical Slimebot. Experiments with 10 modules suggest that this robot exhibits significant abilities, i.e., adaptivity, scalability, and fault tolerance.
AB - This paper discusses experimental verifications of a two-dimensional modular robot called "Slimebot", consisting of many identical modules, each of which has simple motile functions. We have so far investigated a fully decentralized algorithm able to control the morphology of the modular robot in real-time according to the environment encountered. One of the most significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interplay between control and mechanical systems. In order to verify our proposed control scheme, we have constructed real physical Slimebot. Experiments with 10 modules suggest that this robot exhibits significant abilities, i.e., adaptivity, scalability, and fault tolerance.
UR - http://www.scopus.com/inward/record.url?scp=76249107377&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76249107377&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354279
DO - 10.1109/IROS.2009.5354279
M3 - Conference contribution
AN - SCOPUS:76249107377
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 1496
EP - 1501
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -